Eigen  3.3.7
RotationBase.h
1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
5 //
6 // This Source Code Form is subject to the terms of the Mozilla
7 // Public License v. 2.0. If a copy of the MPL was not distributed
8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9 
10 #ifndef EIGEN_ROTATIONBASE_H
11 #define EIGEN_ROTATIONBASE_H
12 
13 namespace Eigen {
14 
15 // forward declaration
16 namespace internal {
17 template<typename RotationDerived, typename MatrixType, bool IsVector=MatrixType::IsVectorAtCompileTime>
18 struct rotation_base_generic_product_selector;
19 }
20 
28 template<typename Derived, int _Dim>
29 class RotationBase
30 {
31  public:
32  enum { Dim = _Dim };
34  typedef typename internal::traits<Derived>::Scalar Scalar;
35 
39 
40  public:
41  EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
42  EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
43 
45  EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
46 
50  EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
51 
53  EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
54 
56  EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
57  { return Transform<Scalar,Dim,Isometry>(*this) * t; }
58 
60  EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
61  { return toRotationMatrix() * s.factor(); }
62 
69  template<typename OtherDerived>
70  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
72  { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
73 
75  template<typename OtherDerived> friend
76  EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
77  { return l.derived() * r.toRotationMatrix(); }
78 
80  EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
81  {
83  res.linear().applyOnTheLeft(l);
84  return res;
85  }
86 
88  template<int Mode, int Options>
90  { return toRotationMatrix() * t; }
91 
92  template<typename OtherVectorType>
93  EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
94  { return toRotationMatrix() * v; }
95 };
96 
97 namespace internal {
98 
99 // implementation of the generic product rotation * matrix
100 template<typename RotationDerived, typename MatrixType>
101 struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
102 {
103  enum { Dim = RotationDerived::Dim };
104  typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
105  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
106  { return r.toRotationMatrix() * m; }
107 };
108 
109 template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
110 struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
111 {
112  typedef Transform<Scalar,Dim,Affine> ReturnType;
113  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
114  {
115  ReturnType res(r);
116  res.linear() *= m;
117  return res;
118  }
119 };
120 
121 template<typename RotationDerived,typename OtherVectorType>
122 struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
123 {
124  enum { Dim = RotationDerived::Dim };
125  typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
126  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
127  {
128  return r._transformVector(v);
129  }
130 };
131 
132 } // end namespace internal
133 
138 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
139 template<typename OtherDerived>
142 {
143  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
144  *this = r.toRotationMatrix();
145 }
146 
151 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
152 template<typename OtherDerived>
156 {
157  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
158  return *this = r.toRotationMatrix();
159 }
160 
161 namespace internal {
162 
181 template<typename Scalar, int Dim>
182 EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
183 {
184  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
185  return Rotation2D<Scalar>(s).toRotationMatrix();
186 }
187 
188 template<typename Scalar, int Dim, typename OtherDerived>
189 EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
190 {
191  return r.toRotationMatrix();
192 }
193 
194 template<typename Scalar, int Dim, typename OtherDerived>
195 EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
196 {
197  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
198  YOU_MADE_A_PROGRAMMING_MISTAKE)
199  return mat;
200 }
201 
202 } // end namespace internal
203 
204 } // end namespace Eigen
205 
206 #endif // EIGEN_ROTATIONBASE_H
ConstLinearPart linear() const
Definition: Transform.h:400
Matrix< Scalar, Dim, Dim > RotationMatrixType
Definition: RotationBase.h:37
Represents a diagonal matrix with its storage.
Definition: DiagonalMatrix.h:116
Namespace containing all symbols from the Eigen library.
Definition: Core:306
friend Transform< Scalar, Dim, Affine > operator*(const DiagonalMatrix< Scalar, Dim > &l, const Derived &r)
Definition: RotationBase.h:80
Derived & derived()
Definition: EigenBase.h:45
RotationMatrixType toRotationMatrix() const
Definition: RotationBase.h:45
internal::rotation_base_generic_product_selector< Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime >::ReturnType operator*(const EigenBase< OtherDerived > &e) const
Definition: RotationBase.h:71
Definition: EigenBase.h:29
Represents a translation transformation.
Definition: ForwardDeclarations.h:267
Transform< Scalar, Dim, Mode > operator*(const Transform< Scalar, Dim, Mode, Options > &t) const
Definition: RotationBase.h:89
Transform< Scalar, Dim, Isometry > operator*(const Translation< Scalar, Dim > &t) const
Definition: RotationBase.h:56
RotationMatrixType operator*(const UniformScaling< Scalar > &s) const
Definition: RotationBase.h:60
Common base class for compact rotation representations.
Definition: ForwardDeclarations.h:262
internal::traits< Derived >::Scalar Scalar
Definition: RotationBase.h:34
Definition: Eigen_Colamd.h:50
Represents a rotation/orientation in a 2 dimensional space.
Definition: ForwardDeclarations.h:265
Derived inverse() const
Definition: RotationBase.h:53
Matrix & operator=(const Matrix &other)
Assigns matrices to each other.
Definition: Matrix.h:206
RotationMatrixType matrix() const
Definition: RotationBase.h:50
The matrix class, also used for vectors and row-vectors.
Definition: Matrix.h:178
Matrix()
Default constructor.
Definition: Matrix.h:259
Represents an homogeneous transformation in a N dimensional space.
Definition: ForwardDeclarations.h:270
friend RotationMatrixType operator*(const EigenBase< OtherDerived > &l, const Derived &r)
Definition: RotationBase.h:76